The rigid-flexible nonlinear robotic manipulator: Modeling and control

dc.contributorUniversidade Estadual Paulista (UNESP)
dc.creatorFenili, Andre
dc.creatorBalthazar, José Manoel
dc.date2013-09-30T18:50:20Z
dc.date2014-05-20T14:16:15Z
dc.date2016-10-25T17:39:24Z
dc.date2013-09-30T18:50:20Z
dc.date2014-05-20T14:16:15Z
dc.date2016-10-25T17:39:24Z
dc.date2011-05-01
dc.date.accessioned2017-04-05T22:21:04Z
dc.date.available2017-04-05T22:21:04Z
dc.identifierCommunications In Nonlinear Science and Numerical Simulation. Amsterdam: Elsevier B.V., v. 16, n. 5, p. 2332-2341, 2011.
dc.identifier1007-5704
dc.identifierhttp://hdl.handle.net/11449/24886
dc.identifierhttp://acervodigital.unesp.br/handle/11449/24886
dc.identifier10.1016/j.cnsns.2010.04.057
dc.identifierWOS:000286154500018
dc.identifierhttp://dx.doi.org/10.1016/j.cnsns.2010.04.057
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/869843
dc.descriptionThe State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot. (C) 2010 Elsevier B.V. All rights reserved.
dc.descriptionFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
dc.descriptionConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
dc.languageeng
dc.publisherElsevier B.V.
dc.relationCommunications in Nonlinear Science and Numerical Simulation
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectState-Dependent Riccati Equation
dc.subjectRobotic manipulator
dc.subjectSlewing motion
dc.titleThe rigid-flexible nonlinear robotic manipulator: Modeling and control
dc.typeOtro


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